Cleanup Controller::update().

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Apache License 2.0

129 stars 37 forks source link

Closed lewie-donckers closed 2 years ago

lewie-donckers commented 2 years ago

First PR in a series to solve #123

Cleaned up Controller::update() a bit so it will be easier to refactor Controller::findPositionOnPlan() later:

extracted code into new function getControlPointPose()
only one call to findPositionOnPlan() instead of two (in separate if branches)
made some locals const